TWI307484B - Image capture apparatus calibration system and method there - Google Patents

Description

1307484 points corresponding to the image feature points may form a corner with known angle, two corners with unknown but equal angles, or two line segments with unknown but equal lengths. Convenience of the calibration system is therefore improved. (1) The representative representative of the case is: figure (2). (2) A brief description of the symbol of the representative figure:

2: calibration system; 20: first image manipulation device; 201: tilt angle; 202, south; 21: correction instrument;: marker point; 212: plane; 213: known length; 214: image; Feature extraction unit, element; 221: image feature point; and 23: first processing unit. Please reveal the chemical formula that best shows the characteristics of the invention: VIII. If there is a chemical formula in this case, IX. Description of the invention: [Technical field of invention] Method '= : Qiao:: Correction system for image capture and simple corrector Shape correction system and method 1307484 [Prior Art] At present, digital interactive technology; music, interactive teaching and intelligent environment construction; in video games, a positioning system is required, which can be done in the process of digital interaction, or calculation One out;|The ticket shows the movement or rotation of the position or movement of the user's limb. : Medium, : Set f and a plurality of objects consisting of marked points, such as a camera. / ^ Generally taken by a plurality of video lines to get the camera == one == corrected] is seen by more than two cameras, and can be simultaneously known as the skill = 忿 3 = inter-coordinate. Please refer to the first figure, which includes the camera 10, the calibration 5! in ', the camera 'camera correction system 1 unit 13 and the arithmetic unit 2 factory, the processed image 12, the feature extraction 10 correction, which includes a plurality of The second test of the school: Ticket:::1:?: The camera refers to the marked point 1Η, the door becomes / /, ", and the mother corrects the correction tool η and i λ π & must be known. Camera 10撷12 The middle is prepared; the shirt is like 12, and the feature extraction unit 13 extracts the horse's number: the second is i21. Next, the arithmetic unit = where the correction reference accumulates a plurality of spatial parameters of the point machine 10. An important key is the prime. When the accuracy of the coordinates of the work is corrected by the camera, the system needs a special correction device, and the correction is made - the position of the camera is determined; the camera--correction, ten; the corrective device of f will not take all the h Reading. In addition, building in a smart environment

In the case of providing a suitable image for improving the image capture device correction 1307484, the use of a mobile camera for the future is preferably dynamic, so that the correction method is to be overcome. The line application has been made on the mobile camera. In view of the various techniques of the prior art, the inventor has been engaged in research and development and the system and method based on the multi-practical experience that can be solved for many years. In order to change the === device image capture device, the method and basis for the above shortcomings. SUMMARY OF THE INVENTION In view of this, the calibration system and method of the object-boring device of the present invention are advantageous. According to the purpose of the present invention, Zushan ^ ^ x. ^ ^ 1 ^ is a suitable for image capturing device, ':, package 3, righteous instrument, a feature extraction unit and a processing unit. The correcting device has a plurality of marked points, the marked points are on the same plane, and the marked points form a line segment of a known length. The feature extracting unit (element extract i on un it) extracts at least two image feature points according to the at least one image captured by the image capturing device. The processing unit calculates the tilt angle and height of the image capturing device corresponding to the plane based on the at least three image feature points and the known length. Wherein the corresponding points of the corresponding image feature points form a corner with known angle, two corners with unknown but equal angles or two unknown but identical length segments. In addition, the present invention further provides a correction method suitable for a plurality of image capturing devices, the method comprising the following steps: 1307484 (a) setting a plurality of marking points, the marking points Located on the same plane, and the marked points form a line segment of known length, and an angle of a known angle, an angle of two unknown but the same angle or two segments of unknown but the same length; (b) choose one Aligning the image capturing device to capture at least one image having the marked points; (c) extracting at least three image feature points corresponding to the marked points from the at least one image; (d) according to at least three Calculating the tilt angle and a height of the corresponding plane of the image capturing device by the image feature point and the known length; (e) repeating the above steps (b) and steps ( c), step (d), to calculate the tilt angle and height of all image capturing devices; (f) determine that each of the two image capturing devices can view the two marked points, and according to the marked points The image feature points and the tilt angles and heights of the image capture devices are used to calculate the rotation angle and positional displacement between the image capture devices. For a better understanding of the technical features of the present invention and the efficacies of the present invention, the preferred embodiments and the detailed description are as follows. [Embodiment] Hereinafter, an image capturing device correction system and a method thereof according to a preferred embodiment of the present invention will be described with reference to the related drawings. For ease of understanding, the same components in the following embodiments are denoted by the same reference numerals. Description. Please refer to the second figure, which is a block diagram of the calibration system of the present invention, which is suitable for an image capturing device. In the figure, the correction system 2 includes a correction instrument 21, a feature extraction unit 22, and a first processing unit 23. The correcting device 21 has a plurality of marking points 211 which are located on the same plane 1307484 212. Above, and the marked point 211 forms a line segment of a known length gig. The feature extracting unit 22 extracts at least three image feature points 221 according to at least one image 214 having the target = point 211 captured by the first image capturing device 20. The processing unit 23 calculates the tilting amount f f 201 and the height 202 of the first image capturing device 20 corresponding to the plane 212 according to the at least three image feature points 221 and the known long sound. Wherein, the plurality of marked points of the correcting instrument 21 form an angle of a known angle (cornei·with known but equal two; the same is true but the same angle of the inflammatory angle, or two non-length). The length line slave Uine Segment 纣 Let Unk_ but equal know that the marked point of 21 is formed - the angle 'and the angle of the angle is not the appliance 21# The extraction unit 22 corrects according to the image capturing device 20 to obtain at least ^ Two images of different positions are extracted from a plurality of images to identify image feature points indicating no points in the f mark. For example, the correcting device 21 has three devices 2〇W and two marked points form an angle of an unknown angle, and the image capturing image captures the image and then changes the position of the correcting device 21, and the image is imaged; The second image is captured, and the feature extraction unit 22 is at the first point. An image is extracted from the six image features corresponding to the three marked points. The point on the point is preferably the table corner of the corresponding empty table on the image, the corner or plane of the paper placed on the table. Painted = tired corners. Image capture device 20 is preferably a camera. And red 2, image capturing device correction system can be configured with infrared filtering lens illuminating device as needed, infrared filter is disposed in image capturing device 20, and standard infrared illuminating device is disposed around image capturing device 2 , Yu, silly μ is an object with infrared light reflection function. Thereby, the image feature points on the marked points can be made clearer, and the interference of the surrounding environment can be reduced.

Claims (1)

1307484 X. Patent application scope g—collecting f, which includes: on the plane, and the indication points 'the marking points are located in the same - - feature extraction list:, the length of the line length; the one with the marked points 4 image feature points of at least the marked points captured; at least three corresponding to the degrees 'calculate the shadow 1 m to two pairs of: the feature point and the known length and # should be plane The angle of inclination and the height; wherein the angles corresponding to the image feature points, the two unknown but identical angles form a line segment of a known angular length. And the fire angle or an unknown but the same 2, as described in the first paragraph of the patent application, forms an unknown angle, and 嗲转##% 糸, where the marked points are different on the plane = The correcting device is at the feature point. And extracting the images according to the images. 3. The calibration system described in the application specification has two index rotations, and the image is extracted from different positions on the surface. The board is being used as a camera as described in item 1 of the patent application. The person is squatting, first, and the image capture device 5, as described in the scope of claim patent, is submitted as a paper, a table or a road surface. The Yongzheng appliance system 6. The calibration system and point shown in item 5 of the patent application scope are the corners of the paper. ',,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, 〒The number of indications 8. The calibration system as described in item 5 of the patent application scope is the corner of the road marking symbol. /, A, the number of markings 9, as described in the cap patent scope of the third item of the correction system, the system is implemented by the microprocessor - software to achieve the Hai feature extraction single 10, production, system 'applicable to a plurality of An image capture-correction device having a plurality of marked points, the 'including: a plane, and the marked points forming a known length:: the points are located in the same -: the feature extraction unit 'according to each of the images - having the image of the marked points, the image feature points captured by the extraction device at the marked points; the two corresponding correspondences - the first processing unit 'corresponding to the at least three image capturing devices The second processing unit calculates the two marked points of each of the two image records and according to the image features of the marked points. The angles of the image capturing devices and the heights are used to calculate the image capturing devices. Rotation angle and position translation; wherein the marking points of the corresponding image feature points form an angle between a known angle, an angle of two unknown but identical angles or Two unknown but identical length segments. The calibration system of claim 1, wherein the marking points form an unknown angle 'and the feature extraction unit reads images of the correcting device at different positions on the plane, and extracts according to the images. Out of these image feature points. The correction system of claim 10, wherein the correction device has two marked points, and the feature extraction unit extracts images of the correction device at different positions on the plane. 13. The calibration system of claim 10, wherein the image capture device is a camera. 14. The calibration system of claim 10, wherein the correction device is a paper, a table or a road surface. 15. The calibration system of claim 14, wherein the plurality of marking points are the corners of the paper. 16. The calibration system of claim 14, wherein the plurality of marking points are corners of the table. 17. The calibration system of claim 14, wherein the plurality of marking points are corners of the road surface. 18. The calibration system of claim 10, wherein the feature extraction unit is implemented by a microprocessor executing a software. 19. A calibration method, applicable to a plurality of image capturing devices, the method comprising the following steps: (a) setting a calibration device of a plurality of marking points, wherein the marking points are on the same plane, and the marking points form a a line segment of known length, and an angle of a known angle, an angle of two unknown but identical angles or two segments of unknown but identical length; (b) selecting an uncorrected image capture device to capture at least one Having the image of the marked points; (c) extracting at least three image feature points corresponding to the marked points from the at least one image; (d) calculating according to the at least three image feature points and the known length One of the plane angles and a height of the image capturing device corresponding to the plane; 16 1307484 (e) repeating the above steps (b), (c), and (d) to calculate all of the image capturing devices The angle of inclination and the height; (f) determining two marking points that can be viewed by each of the two image capturing devices, and according to the image feature points of the marking points and the inclination of the image capturing devices And the height of, and to calculate a rotational angle position between the displacement of the image capturing apparatus. The method of claim 19, wherein if the marker points form an unknown angle, the image of the calibration device at different positions on the plane is captured, and the image is extracted according to the images. Some image feature points. 21. The method of calibration of claim 19, wherein the correcting device has two marked points for extracting images of the correcting device at different locations on the plane. 22. The calibration method of claim 19, wherein the image capturing device is a camera. 23. The method of calibration of claim 19, wherein the correcting device is a paper, a table or a road surface. 24. The method of calibration of claim 23, wherein the plurality of marked points are the corners of the paper. 25. The method of calibration of claim 23, wherein the plurality of marking points are corners of the table. 26. The method of claim 23, wherein the plurality of marking points are corners of the road surface. 27. The method of calibration of claim 19, wherein the feature extraction unit is implemented by a microprocessor executing a software. 17 1307484 Ten-style diagram 正修 ? Page II 18 1307484 Month 9 3 corrections - 19 1307484 2 I 20 1307484 1307484 鲺4姝 1307484 1307484 Figure 7 24 1307484 Ο Figure 8 25